In the standard conditional sampling setting, we sample an environment with random doors and random agent locations and supply the resulting occupancy map observation to the teacher. The teacher controls the spawn location of the ramp and both boxes and we use an action mask [1]}, [2]} to ensure that boxes are sampled close to the lower-right room, as under the uniform baseline. In the “joint sampling“ setting, the teacher also controls the spawn locations of hiders and seekers (but this setting is still conditional in the sense that the teacher observes the number and locations of the randomly sampled doors).
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